NONLINEAR BACKSTEPPING CONTROL WITH OBSERVER DESIGN FOR A 4 ROTORS HELICOPTER L. Mederreg, F. Diaz and N. K. M’sirdi LRV Laboratoire de Robotique de Versailles, Université de Versailles Saint Quentin en Yvelines, 10, avenue de l’Europe 78140, Vélizy, France.
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NONLINEAR BACKSTEPPING CONTROL WITH OBSERVER DESIGN FOR A 4 ROTORS HELICOPTER
NONLINEAR BACKSTEPPING CONTROL WITH OBSERVER DESIGN FOR A 4 ROTORS HELICOPTER L. Mederreg, F. Diaz and N. K. M’sirdi LRV Laboratoire de Robotique de Versailles, Université de Versailles Saint Quentin en Yvelines, 10, avenue de l’Europe 78140, Vélizy, France. 1. Introduction. - PowerPoint PPT Presentation
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NONLINEAR BACKSTEPPING CONTROL WITH OBSERVER DESIGN FOR A 4 ROTORS HELICOPTER
L. Mederreg, F. Diaz and N. K. M’sirdiLRV
Laboratoire de Robotique de Versailles,Université de Versailles Saint Quentin en Yvelines,
10, avenue de l’Europe 78140, Vélizy, France.
11 Introduction.Introduction.
22 4 rotors Helicopter model Presentation4 rotors Helicopter model Presentation
33 Back stepping controller synthesisBack stepping controller synthesis
44 Back stepping controller synthesis with observerBack stepping controller synthesis with observer
55 Simulation and resultsSimulation and results
66 Conclusion.Conclusion.
OUTLINEOUTLINE
Introduction
• Thanks to its special configuration, the 4 rotor helicopter allows to achieve many tasks in different fields.
Symmetry of the platform geometry Low weightLow cost
•Autonomous flight Non linear control law Synthesis.
Complexity of the dynamical system Presence of Perturbations due to the wind Unavailability of some state variables
4 rotors Helicopter model Presentation
0 0 0( , , )Tu v w Absolute velocities / Earth frame
( , , )T Orientation angels: Yaw, Roll, Pitch.
State vector:
0 0 0 0 0 0( , , , , , , , , , , , )Tx x y z u v w p q r